DE1940567A1 - Device for the fully automatic assembly of electrical components - Google Patents

Description

Dipiing. Carpenter

Munich 2, Rasental 7.
Tel. 2619 89

•8th. Hug. i960

MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. Osaka, Japan

Device for the fully automatic assembly of electrical components

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The invention relates to a device that mainly for assembling an electrical circuit arrangement is intended to include the electrical components such as resistance and sglie of and capacitive members on which line parts in the axial extent of opposite ends are provided, the operations of severing the line parts , deforming the severed line parts and inserting them of the deformed pipe parts in the corresponding holes in a printed circuit board is carried out automatically will.

Bs are devices for the automatic assembly of electrical

tric components with sioh axially from their opposite ends extending line parts on documents with printed circuits known that are suitable for applying electrical components of the same type to a substrate with a printed circuit, or those that can be used to electrical components of different types previously arranged in the order of the day were to be mounted on a pad with a printed circuit board. . "■" · '"

.00000871132-

However, the known devices of this type have been in a production process due to the following shortcomings not to be used in a satisfactory manner in every case;

l) As with a device of the first-mentioned type in each case only electrical components of the same type can be assembled, one needs a number of such devices, which corresponds to the number of corresponds to different types of electrical components to be assembled, v / as not only increases the operating costs, but also the space requirements.

2.) It occurs with facilities of the second type mentioned

^ the assembly of an electrical component in a row - automatic

Operations to an operational disruption, so is within the scope of this In the automatic operation, it is not possible to reassemble electrical components of the same type.

3) Devices of the aforementioned type require expensive control devices for arranging the electrical components in the assembly sequence before the actual Lion days process.

4) If one works with a device of one of the two Types on their own, it is not possible to combine a certain electrical component at a desired point in time. document to apply with a printed circuit. -

. 5) Since, in the assembly, the working direction at Einrichtun- m gen of both types is fixed, has such a device each is provided for each of the eligible assembling work directions "'"' ground, the working direction does not fall in the Lont age operation i'2nr: This not only increases the consumption of operating resources, but also requires a large amount of space and requires a considerable amount of work for the maintenance and checking of the device.

6) With devices of both types, the operations of disconnecting, deforming and inserting the line parts of the electrical components are carried out in the same place. so that measures to remove the severed pipe sections become necessary, which has a detrimental effect on work performance » and under certain circumstances, the separated pieces can also

Operation malfunctions

0098097 1132 '"

Cause malfunctions.

Ί) Both types of rub-in dunking are expensive, as . to the . Setting a printed circuit board using a numerical control.

■ -ö "· Complete automation of the assembly process is nicist achievable. . "-

'. In order to eliminate the aforementioned contains a large number of electrical components of the same type, which are applied to the sand at constant intervals in a parallel arrangement "to one another. The device according to the invention is therefore suitable in and of itself for assembling electrical components of various types in a number of such axles, each of which is equal to the number of supply lines provided. Furthermore, in the device created by the invention, a cutting device is provided for each of these supply streams. These cutting devices also serve as a pulling mechanism for the electrical components and are activated individually in response to a suitable electrical signal as part of the processes for assembling an electrical component, so that a desired electrical component is removed from the corresponding storage drum and the line parts of this electrical component in a desired length can be separated so as to detach this electrical component from the tape with the electrical components concerned. It is therefore obvious that the order j in which the various electrical components are removed can optionally be changed as required by taking care of the supply of a corresponding electrical signal. The electrical component separated from the tape in this way is transferred by a conveying device and by compressed air into a head unit in which the line parts are given a desired shape. The electrical component with the in the head unit in ^? this

132

'■■ - .. ■ BAD ORIGINAL

this way deformed line parts is on a base with printed circuit board. To do this, the T-head unit is under Response to a suitable electrical signal pivoted in such a way that that the electrical component experiences a desired directional adjustment with respect to the substrate with the printed circuit. The selection of the assembly point is based on the printed circuit board, ie. the adjustment of the position of the pad with printed The circuit is carried out in such a way that the printed circuit board is supported by a servomotor under analog control first experiences a rough adjustment in a desired position, whereupon by inserting a stop pin into a predetermined ' Hole a stencil to fine-tune the backing with printed Circuit is made.

The cost of the envisaged within the scope of the invention Adjustment device is therefore only about a tenth of the necessary for the numerical control used in the known device, and it is the guarantee of an increased Reliability in the assembly of the electrical component given.

Also worthy of note is the fact that the operations for introducing the documents with the printed circuit into the assembly position and to lead them out of it completely take place automatically, namely in each case a document with a printed Circuit with mounted electrical components. As well as a such a base on which the electrical components are not yet are mounted, are held by a jig. The position for insertion into the assembly and for removal from this serving device is constructed so that easily a Adjustment to the given size dimensions of a pad with printed circuit is possible ..

As can be seen from the above, in the device created by the invention, the deficiencies of the known devices are eliminated and the mounting of electrical components on a substrate with a printed circuit can take place fully automatically, and in addition there are no difficulties in using the device according to the invention set as follows, '*: "■' ^v ■" ■■■■ '. -. ■■ '■■. ^-: that

00980971132 V

that printed circuit documents can be processed, the different size dimensions and arrangement diagrams, depending on the case exhibit.

One of the objects of the invention is to provide a device to create that is capable of selective operations Picking up a desired electrical component from a variety of different types of electrical components, each have in the axial extent of their opposite ends line parts, the Ve.rf0r.m3ns of the line parts to a desired one ibrm and the mounting of this electrical component on a Document with printed circuit in a desired position arrangement inevitably, quickly and run in a fully automatic way allow.

Another object of the invention is to provide a device of the aforementioned type to create, -in the as an aid for da3 an electrical control circuit with a program board is provided selectively for the desired electrical component and the auxiliary devices for the actuation of an associated cutting device - for capping the line parts of the electrical Component in. A desired length dimension when separating this component and for feeding in the electrical component having an assembly head.

Another object of the invention is to provide a device of the aforementioned type, which has a mechanism, with the help of which the electrical components can be picked up individually in the course of an inevitable actuation process, by cutting their line parts.

A further object of the invention is to create a device of the above-mentioned type in which a mounting head is provided which has auxiliary devices for deforming the line parts of the electrical component and auxiliary devices for bringing about a change in position of the electrical component in the vertical and for mounting the component the backing has a printed circuit board.

A further object of the invention is to provide a Vorrioh-

' tung \

009809/1132

BATH ORIGINAL

To create device of the vorbezeiehneten type in which a device is provided for the mounting head that allows a part of the same to pivot so that the Montageriohtung when mounting of the electrical component on the base with the printed so posture can be changed at will.

Another object of the invention is to provide a device to create the auxiliary facilities of the kind indicated above which allow the printed circuit board to be automatically moved to a predetermined position on an adjustment table ■ lead and lead them out of this position again, with a Clamping device is used. '

Another object of the invention is to provide a device of the pre-emptive manner in which the assistance is provided for inserting the printed circuit board into yours predetermined position and for their removal from this are constructed so that they auoh on handling without difficulty with a pad of different sizes printed circuit can be switched without this additional organs would be required. ;

A further object of the invention is to provide a device of the aforementioned kind, with the simple auxiliary devices for the exact and automatic transfer of the document with Printed so-keeping provided in a desired position arrangement are, a known analog control device for these aids lur rough adjustment of the pad with printed circuit in this position arrangement and in a varbestes Looh one fixed template insertable stylus for fine adjustment of the Document with printed so-keeping in the intended position belong.

the task of the invention is auoh no oh, to create a Yorientung the vorbezeiebne-fairy kind, with dsr this * Adjustment of position when attaching the §Xektrieoh®a component on the pad with printed circuit below the pad to bring an anvil look, with the aafcoflblook einatüokig is formed with the solid Sohaljlone, so that the pipe parts

- / ".. ■" -. ■ ■ ■. ■ ■. ' ■■

009809/1132

to the. electrical components on the underside of the pad with _ Printed circuit are always bent along the printed web.

Other objects, features and advantages of the invention go on from the context of the following detailed description in Connection with the enclosed drawings. In the drawings demonstrate*

Figure 1 is a perspective overall view of an embodiment of the door direction according to the invention for fully automatic Assembly of electrical components; <-,.

"Figure 2 is a front view of the cutting or severing unit;

Figure 3 is a side view of this separation unit »

FIG. 4 is a perspective view illustrating the Cutting devices and the guide of the cutting unit in the assembled state;

Figure 5 is a side view of the head unit;

FIG. 6 shows a perspective view of the receiving device for the electrical components provided in the head unit;

Figure 7 is a perspective view of the receiving device for the electrical components in an exploded view Arrangement; ■. "

Figures 8 and 9. perspective views in which the essential part of the head unit is shown?

FIG. 10 is a sectional view of the essential part of FIG Head unit; .

Figures HA and HB representations to explain the Actuation of the head unit; - - -: '

FIG. 12 is a perspective view of the position adjusting device the plant;

FIG. 13 is a front view of the essential part of FIG Position adjuster?

009809/1132

. ■■■. ■ ■ \ - θ - ■ - '■. ■ ■ .. ■■■ - ■.

Figure 14 is a sectional view through the middle

cut of the essential part of the position adjustment device *

Figure 15 is a perspective view of another embodiment sfοrm the position adjustment device;

FIG. 16 is a front view of the essential part of FIG position adjusting device shown in Figure 15;

Figure 17 is a sectional view in one through the middle the essential part of this position adjusting device laid section;

Figures 1ΘΑ and 18E representations to explain the

^ · Operating processes when assembling an electrical component

■ using the position adjuster i

Figure ig is a perspective view of the system provided device for feeding and removing the documents with printed circuit!

Figure 20 is a front view of the feeding device and removing the printed circuit board;

Figure 21 is a perspective, on a larger scale View of part of the device for feeding and removing documents with a printed circuit »

FIG. 22 is a block stop scheme for setting the position serving servo device} and

Figure 23 is a block diagram of the control circuit of the inventive Device for fully automatic assembly of electrical

Components. . '-

As ΑμοίΐΠίΓω ^ βΐοΏη of the invention, a device will now be described with the help of electrical components such as for example resistors, capacitors and diodes to which in axial extension line point are provided on a base can be mounted on which one or more electrical circuits are pressed.

1. Construction

In the illustration of FIG. 1, the reference number 1 denotes

. '■■ "009809/1132 °:

- 9 - ■. ■

a switch cabinet, the reference number la a switch box, the reference number Ib a program table and the reference number Ic a servove amplifier for the automatic setting of one to be described below Tables «The actuation arrangements of the system are controlled by solenoid valves (not shown) which, according to a program set on the program table Ib with compressed air operated from 2 to 4 at.

A frame structure 2 is fixed on a base plate 85 of Device mounted and a plurality of storage drums 4 for the electrical components is by spring plates 5 in the way mounted in a rotatable arrangement on the frame structure 2 that none of these supply drums 4 are due to their inertia continues to rotate. At the very top end of each spring plate 3 is a part made of a synthetic resin (not shown) is provided a, that in one of the associated storage drum 4 trained (not shown) bearing bush engages so that the Storage drum 4 can be easily replaced and this Replacement process is not damaged. On each of the supply drums 4 there is a band or belt with electrical components 5 in each case wound of the same type, these components being fastened to a tape strip 57 at regular intervals and one end of the tape strip 57 into a severing unit 6 extends into it. Each of the electrical components 5 has line parts 5k extending from its opposite ends into extend outward in the axial direction. Arrives in the separation unit 6 the electrical component 5 with the teeth of feed wheels 7 and of wheels 7a of a cutting device in actuation connection, which are keyed on a shaft -14, which on a frame structure 10 of the .A separation unit in the manner in a rotatable arrangement geLa-. is, as shown in Figures 2 and 3, the Pre-lifting wheels and the cutting device wheels are the same number of teeth and connected to one another to form a whole are. With the reference number 8 is a bracket 9 by a bracket the frame assembly 10 attached solenoid, and a link 11 is articulated to one end of a plunger 8 a of the solenoid 8. For the return movement of the tau core 8a of the

■ - ■ - ■■ ^{; :} ■ SolenoidB

009809/1132

- ίο - -

Solenoids 8, a tension spring 20 is provided, which with its one end anchored on the frame structure 10 and with the other end on the outer part of the plunger Ba is attached. The one end a & s Lever 13 is through a pin 13a at the other end of the link 11, while its opposite end is pivotably mounted on the shaft 14. A ratchet link 15 is at a middle point of the lever IJ with this through a pivot 15a connected in a pivotable arrangement. This Latch member I5 is engaged with a ratchet 12, which is of that part of the wave I4 is carried outside the Frame construction law. extends, and that by a (not shown-

fe ten) wedge-firmly connected to this. Another latch link

is wrong with the force of a spring 22. In the sense of a bracelet on the tooth lock 12, so that the tooth lock is held against reverse rotation. The latch member I5 is loaded by the force of a spring l6 in the clockwise direction of FIG. 3. A stop 2J is provided on the frame structure 10, which has an sv. ^r start-up ε progression of the Zahnge lock ε 12 by one tooth spacing by the pawl member I5 when "the actuation of the same made possible. iLii a block 28 are fastened by bolts I9 cutters 17 together with guides 18, 18a, this block 28 firmly nit the. Frame structure 10 is connected. The cutting devices or Ilessers 17 are arranged so that they each press against the outer surface of the respective of the za of the cutting

W device belonging wheels 7 ^a and that their. Height adjustment can be changed with the aid of bolts I9. The inner surfaces of the cutting devices 17 are each provided with recesses as shown in FIG between the tape or belt provided with tape strips with the electrical components 5 and the feed wheels 7 and the wheels 7a of the cutting device. Reference numeral 29 denotes a manual operating wheel, and reference numeral 30 denotes guides attached to the frame structure 10. are, with their extremities on the cylindrical surfaces 7b

.- ■ "■■■■ the

009 809/1132 'bathroom

attack the relevant precubrader 7, the running tape strips are guided away over rollers; to which the electrical components 5 are attached initially. These guides 30 serve to lead the separated pieces of the line parts 5k of all electrical components 5 to take-off rollers 24 which are driven by an electric motor (not shown) provided behind the separating unit 6 Stop for adjusting the stroke of the plunger core 8a of the solenoid 8 is referred to. In Figure 1, an (not shown) gearbox and (not shown) drive belts operatively connected to belt rollers 34 electric motor 33 is shown, and conveyor belts 35 are each guided around a driving belt roller 34 ^and a driven pulley 34a and serve to convey the overlying , now detached from the tape 57 after severing the line parts electrical components 5a ^to a feed hopper 36. The width of the conveyor belts 35 is less than the length of the electrical component 5a. In the extension along the opposite hand of the conveyor belts 35, guides 37 are provided which serve to guide the electrical components 5a carried by each of the conveyor belts. The upper length of the conveyor belt 35 is underlaid with a support plate 38 in order to prevent the conveyor belt from vibrating. A hose line 39 is connected at one end to the feed hopper 36 and at the other end to a receiving device provided in a head for the electrical components.

Reference is now made to FIG. 5, in which the reference number 41 denotes the just mentioned receiving device for the electrical components, the details of this device being shown in FIGS. The receiving device 4I for the electrical components is fastened by screws to a counter-holding cylinder 43 for a spring 42. In FIG. J , the reference number 44 denotes transparent side plates, which are screwed to the receiving device 4I for the electrical components, while the reference number 46 denotes a Hegelklappe connected by a pin 47 in a pivotable arrangement with a rule plate 45. The control plate 45 is together with a leaf spring 46a by screws on the receiving device 4I for the

• electrical

0 00 80 97 Ϊ1-3 2-

, ■ - BAD ORIGINAL

■■■ '. - Ί2 '- ■' ■■ '■' ■,

'' electrical components attached. Me leaf spring 46a loads that Regulating plate 45 for a tight fit against the receiving device 41 for the electrical components. Below the receiving device 41 a guide 83 is provided for the electrical components.

The reference numeral 48 in FIG. 5 denotes a deformation tool on which grooves 48a are provided, as can be seen from the illustration in FIG. The deformation tool 48 and a member 50 connected to the outer end of a piston working in a cylinder 49 are connected to one another by a lever 51 pivotably mounted on a linkage element 52. Lie reference numeral 56 denotes a rotatable cylinder and at the lower end of this cylinder 56, a mold part 53 is provided, which is formed with V-shaped grooves 53 a and about a pin 54 is ver pivotable. The molding tool part 53 is at all times loaded by a spring 55 into a horizontal position parallel to the lower end 57 of the cylinder 56. The cylinder 56 is surrounded by a head housing 58 and a flange 56a formed on the cylinder is loaded by the force of the spring 42 constantly against a shoulder 59 'at the upper end of a bore in the head used to receive the spring. The head housing 58 is secured to the structure 62 of the head by screws. A slider 61, which is formed with a groove 60 in the region of its lower end, is mounted in the cylinder 56 for sliding movements. Rotation of the sliding piece 61 in the cylinder 56 is prevented by a sliding wedge 63 which is screwed onto the cylinder 56. A steel ball 64 serves * is a difference between the movements of the slider 61 and the cylinder 56 produce "The cylinder 56 has a bore 56h, stored in which the steel ball 64 ~. 'is, whereas the head housing 58 is formed with an annular groove 58a for receiving the steel ball and the slider 6l has a groove 6la. At the upper end of the cylinder 56 a pinion 65 meshing with a rack 66 is provided. The rack 66 and a rod 67 are connected to a block 68 with a cylinder 69 in an actuating manner. Reference numeral 70 denotes a support for causing the rack 66 in FIG

009809/1132

the horizontal and the reference numeral 74 an electric motor. The driving force of the motor 74 is keyed a pulley 71 via a V-belt 72 to a driven pulley 71a and then by a connecting shaft 73, to which the driven pulley 71a _r is transmitted via an electromagnetic clutch brake 75 to a shaft 40th Cams 77 and a gearwheel 76 are fixedly connected to the shaft 40. The gearwheel J6 meshes with a gearwheel 80 which carries a multiplicity of stop pins 78 of an optional length. The cams 77 are assigned to a plurality of microswitches 79 for their actuation; The gear wheel 76, the cams 77 and the gear wheel 80 carrying the stop pins are supported by a mounting arm 81 on the structure 62 of the head and the microswitches 79 are also firmly connected to the structure 62 of the head by means of a mounting arm 82.

In Figure 12, a device for position adjustment is shown. In the illustration of FIG. 12, the reference numeral 86 denotes holding arms which are screwed onto a base plate 85 are, while the reference numeral 87 denotes a work table. The Tisoh 87 carries a plate 89 on which pins 96 are used for position adjustment a base 88 with a printed circuit is provided and which also has a cross-shaped opening 97 in the middle, this plate 89 is fixed to the table 87 by bolts. The table 87 is supported by slide bearings (not shown), respectively are included in blocks 9I in a slidable arrangement mounted on rails 90 which extend in the direction of the Y-axis. The rails 90 arranged in the direction of the Y-axis are fixed to rail blocks 93 at their opposite ends connected by (not shown), respectively, in blocks 95 housed plain bearings on rails, 92 are slidably mounted, which extend in the direction of the X-axis. The rails 92 arranged in the direction of the X-axis are fixed to the above-mentioned ones Bracket arms 86 connected. A cylinder 95 with. one to adjust the position serving, pointed. Pin 94 is attached to an anchor table 87. A threaded spindle 98, which is used to move the table 87 in The direction of the X-axis is used to cause rotational movements on the bracket arms 86 stored. A servo motor 102 for driving the win-

despindel

^: 009809/1132

■■■■■. "; -> l · - V:

aespindel 98 i "ot actuatable; connected to one end -, - while at the other end of the threaded spindle a Pc t - nti, ueter Iv, 3 - is provided for determining the setting, v-whether this servomotor and Ι? .Ε Potentiometer mitte-ls almv elei.trxLCi. &N;jchalt-j; ~ 3-arrangement, which is shown in h'i ^ T 2Z . The. Threaded spindle 08 is in a Lütter 9; " a ^ e scLrauLt. Lie, aittir y'-j stands with the shoe block 93 i: i surfaces i: o ^ ta :: ti: nd is supported by springs 101 on spring seats IGO, which are provided in a fixed arrangement on the rail block 95. The nut 99 is therefore not rotatable together with the threaded spindle 98, but only displaceable in the axial direction thereof. In a corresponding manner, a threaded spindle 104 is also provided with a servomotor 105 ¹ A ^ d a potentiometer 106 for determining the setting, so that the table 87 can be shifted in the direction of the Y axis, and this threaded spindle 104 is screwed into a nut (not shown), which is supported by springs IC? and by means of spring seats 108, which are fastened to the table 8-7, in which it is held so that it cannot be rotated with respect to the base plate but can only be displaced horizontally. The Gev / ixidespindt J ₁ 08 u.-rA 104 hs.ben jev / eils Trapesifowinde or 'Euiid.ie-v / ir.de.- ■ "

A template IC ^'1 with exactly eordn3ter_ to _e Einstellöcnerii -. 109a is underneath the pin 94, which is used to adjust the position, and is fixed by bolts on the base plate 85.

stigt. _ ';

In Figure Ig a 7crricbtung.z feeding and removing the documents is shown with a printed circuit. A sliding plate 111 is supported on two rails by sliding bearings (not shown) which are arranged in blocks 112 fixed to the sliding plate 115 mounted for sliding movements. With the rails 115 is a Cylinder 121 firmly connected, which is used via a block 125-a To cause sliding movement of the slide plate 111. The opposite ends of the rails 115 are each on stands 114 mounted, which have a part designed as a rack. Each of the rack stands II4 is' for sliding movements in one Cylinder II5 stored in which a plain bearing is provided. Wed-1 each of the rack posts extends from its lower end 114a

00980971132 bad original

114 through the base plate 8 5 down and is here with a Gear 120 in tooth engagement, which with the help of a cylinder 116th to ! Rotary movements "can be actuated by a bracket arm 116a is attached to the base plate 85. By means of the cylinder Il6 namely- a Ye rSchwenken einer.Schwenkhebels 118 caused, and this rotating movement is caused by a connecting shaft 119 the two gears 120 are transmitted. -

I.Iit the reference numerals 124 and 125 are. Actuating spindles referred to, which serve to set the end point of the sliding movement of the sliding plate _; 111, and reference numeral 126 denotes a stopper. The sliding plate 111 has two recesses in purple, in each of which a clamping device is provided, which is actuated with the aid of cylinders 127a and 127b - (the clamping device provided in the right recess in the viewing direction being omitted from the drawing). at the extreme end of the piston rod of the cylinder 127a, a connecting member 128 is provided which is connected to a push rod 131 to trigger a pivotal movement. the push rod 1-51 is connected to pivot levers 129 i ⁿ operating link, since in each case a pin IJO for triggering von.- Pivoting movements is fitted in a slot provided in each of the pivoting levers I29. Each of the pivoting levers I29 is connected to a camshaft 152 which carries two lifting cams 153. Each of the camshafts 152 is supported for rotational movement on slide blocks 151. "*

The sliding blocks I5I slide on two fixed shafts I55 stored, which in turn are firmly connected to blocks I34, which are attached to the slide plate 111. Two sliding blocks each 151 are connected to a jaw shaft 156, each of which carries two pivotable gripping jaws 157, each having a base 157a ... The position of each of the gripping jaws 157 is with the help two adjustable shaft collars I58, which are fixed be mounted on the gripper jaw shaft I56. The reference number I59 refers to tension springs, each between a gripper jaw I57 and attack the camshaft I32 and through which the gripping jaws 157 in contact with the cam surfaces of the lifting thumb concerned. I55 being held. Four such gripping jaws form as a set or one

009809/1132

BATH

■; '■;■■.' - 16 -; - ■. ■ ■ '.'. ■ '^;

is called a jig '.

As shown in Figures 19 and 20 is still a plate Ι4Γ attached to the base plate 85 by support feet I40 « The plate 14I is formed with a slot 143 in the center. A feed magazine 142 in which a number of documents 88 with printed circuit board is stacked on top of each other by the plate 141 worn. On the plate I4I. is a runner plate or feeder plate I45 is provided with a low thickness rating, which is based on the Plate 141 is slidable along slot 143, this running plate being actuated by a cylinder I44 which attached to the plate I4I. The running plate I45 has a smaller Thickness than the single pad 88 with printed circuit board.

2. Mode of operation

The solenoid 8 of any disconnecting device 6 is energized in response to a signal programmed on the program table Ib of the control cabinet 1, whereupon the plunger 8a is retracted against the loading force of the spring 20. This results in an actuation of the link 11 connected to the solenoid 8 and the lever 13 articulated by the pin 13a at the outermost end of the link 11 is therefore "pivoted about the shaft I4 as a fulcrum, this being fixed on the shaft I4 The mounted ratchet 12 is indexed one tooth by the pawl member 15 connected to the lever 13 by the pin 15a Tooth rotated, since the number of teeth is always the same. Here, the actuation of the pawl member 15 is set by the stop 23, so that the ratchet 12, the Vorsohubräder 7 and the wheels 7a of the separating device not because of their persistence by two or More teeth can continue to rotate The rotary movement of the feed wheels 7 and the baths 7a of the separating device results in elements in a row Ctrical components 5, which is wound onto the supply drum 4 (and on which the feed wheels and the cadre of the cutting device act,. forwarded by fans

009809/1132

transported further. Here, the band is made up of lined up electrical wires Components 5 continued positively because it is tightened by the guide 18. At the same time, the "outer ends of the Line parts 5k of each electrical component 5 supplied in this way are severed by the cutting devices or knife 17, each against the outer surface of the wheel in question 7a the disconnection device. The electrical component 5a, whose Cable ends are now separated, falls between the guides IS and 18a down. The cutting position or that position in which the cutting device 17 is arranged, is at a central point between adjacent teeth of the wheel 7a Separating device or provided at a distance of half a division, so that the separated electrical component 5a only over a distance corresponding to half a division positively downwards will. Is then the separated electrical component 5a in the described Compulsorily follow up over half a division has been passed down, it comes into a position between the recessed parts of the two cutting devices 17 (see Figure 4) f so that e.s now falls freely. In the process of severing of the line parts rotates at the same time from lined up electrical lines Components 5 existing tape on the supply drum 4 further which it is wound up, and the next electrical component 5 becomes brought up to the cutting position by the feed wheels 7. If the supply drum 4 is due to its inertia would continue to rotate more than necessary, it would be lined up electrical components 5 existing tape sohlaff durohhang and the conduction parts of the electrical components could possibly deformed by hooking on protruding parts of the device. So that this does not happen, is the supply drum 4 against any such inertial movement by the spring plate 3 held. After the end of the thermosetting process, the The signal to energize the solenoid is interrupted and the solenoid de-excited and the plunger 8a by the loading force of the spring is returned to the position on the Ansehlag Jl.

.. The component 5a separated in this way from the strip consisting of lined up electrical components falls over onto the

009809 / Viii

, - 18 - ■■ -. ■ ...

The belt rollers 34 and 34a guided around and driven by the Uo gate 33 conveyor belt and is transported by this in the guide through the guide members 37 to then fall into the feed hopper 36 and so through the hose 39 into the receiving device 41 for the electrical To get components, which is shown in Figures 5 to 7. The electrical component transferred into the receiving device 4I comes to a rest position on the guide part 83, in which its position is determined by the side plates 44 and the regulating plate 45, as shown in FIG.

fe This position of the electrical component 5a is on

detected electrically and a signal representative of this operating phase is fed to a solenoid valve (not shown) provided below the base plate for its excitation, whereupon the cylinder 49 is actuated. The lever 51 is accordingly ^{pivoted about the articulation member 5 2} and brings about a reciprocating movement of the deformation tool 48 on the guide part 83 ~. The deformation tool 48 picks up the electrical component located in the rest position nit the hats 48a and brings the electrical component after a position regulation with the inside of the V-shaped grooves 53a of the mold part 53 cooperating with it, so that it is against the force the leaf spring 46a loaded control plate 46 is applied. With this one

During the actuation process, the line parts of the electrical construction site 5a are angled through the interaction of the mute 48a of the deforming tool 48 and the V-shaped grooves 53a of the forming tool 53 provided for this purpose in opposition, which are arranged at the same height as the grooves 48a. After completion of the deformation actuation, the deformation tool 48 is returned, and the electrical component 5a subjected to this shaping process now has the appearance shown in FIG. The electrical component 5a remains held in place in the V-shaped grooves 53a of the molding tool 53 as a result of the resilience of its angled line parts.

During the above-described deformation process ilie run following actuations abs The squatting and the gear 77 are constantly running f6 of the electric motor 74 via V-belt Diö

human disks

Od / t 13 2

pulleys 71 and 71a, the V-belt 72, the connecting shaft 73 and the electromagnetic clutch brake 75 is driven, and consequently the stopper-carrying gear 8G that is connected to the Gear 76 meshes and has the same number of teeth as this, to:

operated by a rotary movement. The degree of rotation of the gear 80 is determined as follows: At the program table Ib of the control cabinet 1 shown in ilgur 1, a signal corresponding to a desired direction of insertion of the electrical component 5a is supplied, whereby the relevant one of the plurality of microswitches 79 i ^{u can be} actuated State transferred and at the same time the electromagnetic clutch brake 75 is brought into an engagement position in which the cams 77 are actuated for rotary movements. The gear 80 continues its rotary movement until the Nooke acting on the actuatable Llikro switch opens the contact of this microswitch. Y / ird now the contact of the selected microswitch is opened by _x the Nooke, the electromagnetic! - 'see clutch brake 75 and the gear 76 is actuated separated from the motor 74 so that the gear 76 comes to a standstill. As a result, the rotational movement of the cams 77 coaxial with the gear .76 and of the gear toothed therewith is also terminated. Of the stop pins 78 carried by the gearwheel 80, the one which, in terms of its length, corresponds to the desired insertion direction mentioned, reaches a predetermined position.

After completion of the processes that lead to the deformation of dfer line parts of the electrical component 'and to. Introduce a -determine ^ _. th stop pin in the predetermined position arrangement are necessary and as they have been described above, a (not shown) arranged below the base plate 85 solenoid valve is supplied with a representative signal for this operating phase for its excitation. As a result, the cylinder 69 is now actuated and the block 68 connected to the outermost end of the piston rod of the cylinder 69 and the rack 66 connected to the block 68 through the rod 67 are slidably displaced on the structure 62 of the head. The rack 66 continues its sliding movement until a stop 8.4 screwed into the block 68 rests against the braked in the manner described above in the predetermined position -; ■ -. ".- ■"'-■': - V. --- ■ "..., .... ■ v; ...".-; / .. th

009809/1132

■ ^; ■■■■■ .'- 20 - - ". ■ -;

th stop pin 78 arrives. The one meshing with the rack 66 Pinion 65 therefore rotates in unison with the Cylinder 56 until the desired insertion direction is achieved. , The cylinder 56 now takes the one required for inserting the component Position. During the rotation of the cylinder 56 were also that connected by pin 54 to the lower end of the cylinder Mold 53 and dae through the sliding wedge 65 with the Cylinder 56 connected to a whole sliding piece 61 in the desired Direction of insertion rotated. In this way the electrical Component 5a by the piston movement of the cylinder 69 be pivoted in the desired insertion direction.

Thereupon, the sliding piece 61 serving for the insertion of the electrical component is moved back and forth in the vertical direction with the aid of a cylinder (not shown) provided at its upper end in response to a signal given with respect to the piston movement of the cylinder 69 with a slight delay forward movement actuated. First, the slide 61 is guided downwards due to the action of the cylinder (not shown), only the slide moves in a displacement sbe we movement along the inner surface of the cylinder 56, while its degree of pivoting is determined by the sliding wedge 63 and the keyway is because the cylinder 56 is still held in the position shown in Figure 5 by the loading force of the spring 42, whereupon the slider continues its sliding downward movement so that the steel ball 64 comes into contact with the upper end of the groove 6la provided in the slider . In this actuation phase, the lower end of the slider 61 hits the molding tool 53, as shown in FIG. 10, so that this is pivoted against the force of a torsion spring 55 into a vertical position. While the slider 61 is now moving further downwards, it presses the steel ball 64 downwards, which in turn now presses the cylinder 56 down. The cylinder % is thus guided downwards against the loading force of the spring 42 until finally the flange 56a of this cylinder hits the upper * end of the stop cylinder 43. The electrical components 5a and 5a held in this mold by the molding tool 53

009809/1132.

The positions assumed by the sliding piece 61 with respect to one another are indicated in FIG. HA by dashed lines. The steel ball 64 depressed by the upper end of the groove 6la is inserted into the ring groove 58a provided in the head housing 58, so that the steel ball 64 releases the slider 6l, after which only this moves downwards and in this case the "V- shaped ■ grooves 5Ja of the mold 53 supported electrical component 5a ejects from the mold, as illustrated in Figure HB, so that the electrical component 5a is mounted on a substrate 88 with a printed circuit, its lead parts are inserted into holes that are in For this purpose, an anvil look (not shown) provided on the base plate 85 below the head, simultaneously with the rotation of the cylinder 56 i * ¹ carried out in the manner described above, is the desired direction of insertion of the electrical components and in the course the same operating sequence has been brought into a corresponding position and at the same time as the lead parts of the electrical components 5a are inserted into the holes provided for this purpose in the base with the printed circuit, it is guided from below to the underside of the base, so that the conductive parts of the electrical component 5a are firmly attached to the base by inward bending or caulking be connected to the printed circuit. After the end of its downward movement against the loading force of the spring 4 ² ₍ the cylinder is locked in its position by the introduction of the steel ball 64 into the annular groove 58a.

If the electrical component 5a is then firmly mounted on the base with the printed circuit in the manner described, the slide 61 is guided upwards and as soon as the groove 6la comes into a position that corresponds to the arrangement of the annular groove 58a, the steel ball slides 64 in the reverse of their Ausweiohbewegung when guiding the bodice of the slider over into the groove 61a of the slider 6l, since the cylinder 56 is constantly loaded with the upward force of the spring 42 directed upward. The cylinder 56 is therefore guided out of the locking position on the head housing 58 and, together with the slider 6l, upwards into its starting position.

' position

position postponed. This means that one operating cycle is the.head on-- .. is finished. ■ -:

In this context it should be noted that the actuation of the separating device, "with the prescribed head actuation in is coordinated in such a way that the process of separating an ejek-tri Component 5a from the strip consisting of lined up components triggered by an electrical signal simultaneously with the downward movement of the slider 61, and that the separated electrical Component 5a transferred in the course of that period of time in the receiving device 41 for the electrical components and in the predetermined Position and in the desired directional arrangement as shown in Figure 8 is brought into a rest position in which the preceding electrical component through the head unit onto the base 88 is mounted with a printed circuit.

Next, with reference to FIGS. 12 to 14 'as well as to FIG. Completion of the above-described operating cycle of the head unit and after mounting an electrical component 5a on the base 88 with printed circuit, the setting table 87 is operated to the effect that the holes in the base intended for the next insertion process are "moved" into predetermined positions. The shifting of the table 87 is accomplished by the servomotors 102 and 105; the amount of rotary actuation of the servomotors 102 and 105 is determined by a voltage difference (e - e.) Between position adjustment potentiometers (not shown), for the X-axis and for the Y -Axis and the position adjustment potentiometers 103 and I06 for the X-axis and for the Y-axis. so rotate the one directly connected to the relevant one of the two servomotors, for Moving the table 87 in the direction of the X-axis or the Y-axis thread spindles 98 and 104 until the voltage difference (e _o - e _± ) is Hull. The nut 99 screwed onto the threaded spindle 98 and one screwed onto the threaded spindle I04

. '". ■ - ^: te

009809/1132 bathroom

Te nuts (not shown) are therefore shifted each time, whereby the setting table & 7 is brought into a predetermined position. In this case, however, an exact setting of the table 87 is not possible due to the instrument errors of the potentiometers and the like. For this reason, the cylinder 95, which is fixedly mounted on the adjusting device 87, is actuated in response to an electrical signal which indicates that the aforementioned voltage difference (e - e.) Has assumed the value zero, whereupon the pointed ο χ '.'- .. · ■

Pin 94 is inserted into a fine adjustment hole 109a provided in the template 109 which is fastened to the base plate 85 by bolts, so that the table 87 is guided precisely to the desired position. In the sequence of actuation processes described above, the instrument error of the potentiometer and the like naturally also initially leads to a misalignment (an adjustment error) of the pointed pin 94 provided as the extreme end of the piston rod of the cylinder 95, which is of course caused by the is (see Figure 22) is also moved servo means with respect to the corresponding Feineinstellungsloeh 109a in dp · ^ template 109. this misalignment or this setting error is, however duröh the insertion of the pin 94 i ⁿ the hole 109a, corrected. The now resulting from the original misalignment (from the above-mentioned adjustment error) mismatch in the arrangement of the adjustment see 87 with respect to the threaded spindles 98 and 104 is compensated for by the springs 101 and 107, which are between the nut 99 and the not shown nut on the one hand and the spring seats 100 and 108 on the other hand are provided.

With reference to FIGS. 19 and 20, the operation of the device for feeding and removing the documents will now be included printed circuit board .. Is on a pad 88 with printed circuit a predetermined number of electrical Components 5a have been mounted, as detailed above was, then the lowest of the in the feed magazine 142 is stacked one on top of the other Documents 88 through the running plate I45 into a Position below the recess provided in the sliding plate HI " purple led. In addition, the cylinders 127a and 127b are im

Senses

009809/1132 - - *

• ORIGINAL BATHROOM

The triggering of a rotary movement of the hook shafts 132 and a pivoting of the lifting thumb 133 via the connecting member 128, the push rod 131, the pivot pins IJO and the pivot lever 129 are actuated. Jaws 137 "where each of the cam lever 133 attacks, pivoted and opposite to the ^one spring force of the respective springs 139 open - When pivoting the cam lever 133 are. . ■

Then they are each provided with a rack part Stand 114 by · actuating the on the underside of the. Base plate 8 5 provided cylinder 116 as a result of the triggered Rotation of shaft 118 and gears 120 lowered. That of the two rack stands 114 and the two rails

The sliding plate carried by W 113 is therefore moved downwards. The grooves 137a provided in the individual gripping jaws 137 are arranged at such a height that they are flush with the sliding plate 111 when this is lowered into its lower position. If, in response to an electrical signal, a return movement of the piston rods of the cylinders 127a and 127b is triggered in their initial position, the lifting thumbs 133 are returned to their original position, with the result that the gripping jaws 137 also return to their vertical closed position . On the base with the printed circuit on which the electrical components are not yet mounted, and on the other base with the components already mounted, the gripping

k bake the clamping device arranged on the right-hand side in the viewing direction of FIG. 19 or the clamping device arranged on the left-hand side, these supports being received in the grooves 137a. The uprights II4 are then guided upwards into their original position by a reverse actuation process of the cylinder 116. The left clamping device lifts one base 88 with the printed circuit from the monitoring pins 96 which are used to standardize its position the setting table 87 are provided (see Figure 21). Thereafter, the slide plate'111 is slidably displaced on the rails 113 by actuating the cylinder 121, so that the clamping device on the right in the viewing direction is now guided into the position that was previously the '.. ■ - ■ ^: left

00 9 809/1132

'- 25 - ■'. ■■■ - ■

took left jig. The rack and pinion stands II4 are brought down again to now the one from the right jig Held new pad with printed circuit to take care of the dowel pins 96 '. The previous pad held by the clamping device on the left (with the electrical components) is fed to the next operating point on a conveyor belt. For this purpose, the gripping jaws 137 reopened by actuating cylinders 127a and 127b, see above that the printed circuit documents held by them are released from their intervention.

Then cylinder II6 in response to a a timer or the like originating signal put into operation and the left as well as the right jigs with the gripping jaws opened up into their starting position. Upon completion of this upward movement of the jigs the slide plate 111 is discharged by a thereupon Signal triggered actuation of the cylinder 121 in its original Position moved back. The cylinder 144 is also actuated in response to the same signal and a new one The printed circuit board is attached to the cylinder I44 actuatingly connected running plate 145 from the feed magazine 142 / inserted into the predetermined position. Is this process ended, the cylinder I44 is actuated again in response to a signal and leads the running plate 145 back to its original position.

Once the above-described processes have been completed, one is complete Operating cycle of the device created by the invention for the fully automatic assembly of electrical components completed.

The above-described actuation method of the invention The device is now briefly based on that shown in FIG Schematics explained. An electrical component is connected to one of electrical supplied to the program panel of the control cabinet Signal separated from the strip consisting of lined up electrical components, transferred to the deformation position and one there Subjected to the molding process. Then the installation direction of the elec-

"scream

-. - ■ ΘÖ S S O 9/1 13 2 '- ■'

tric component, clearly defined, followed by another electrical Signal is emitted. Is through the setting table also the The assembly point of the electrical component is set, so there is another signal. The process of contagion of the electrical Component is triggered by the three signals mentioned. After completing this assembly process, a rotary switch becomes his A signal is applied to the actuation and the rotary switch is turned to the next position. This is followed by the program board a program corresponding to the new position of the rotary switch issued and the next operating cycle for the assembly of an elec- tri see component expires. As soon as a predetermined number of fc electrical components by operating sequences such as those described above has been mounted on a pad with a printed circuit is, the rotary switch is turned to the next switch position, whereupon the device for feeding and removing the documents 88 a signal is supplied, so that a removal actuation takes place after this device in a predetermined feed and Removal position performed vrde. The rotary switch -will, after finished The supply and removal process is turned back to its original position and a new actuation cycle for assembling an electrical component begins. The process described is repeated, until a full working cycle of the fully automatic device for the assembly of electrical components is finished.

^ In Figures 15 to 18 inclusive there is a different one

™ '-. 'Embodiment of the fine adjustment template shown. At this In the embodiment, the mechanism for operating an adjusting table 87 'is the same as the servomechanism described with reference to Figs. 12 and 22, and the fine adjustment is also done with the help of a sharpened pen and a fine adjustment tool performed. But the device shown here allows an operation that is the same as that shown in FIG Establishment is not possible. Instead of the anvil block (not shown) used in the previous embodiment for inward bending and caulking the wire ends on the underside of the printed circuit board is used in this case A cylinder 95 'is provided below the head on the base plate.

■ hen

OS / 113 3.

hen, in which the outermost end of the piston rod is designed as a pointed pin, and also here the template 109 eier Figure 12 with the fine adjustment holes l09a is replaced by a fine adjustment plate 109 ', which has fine adjustment ^{holes 109a 1} on its underside and adjusts! 87 'is mounted. The upper surface of the fine adjustment plate 109 'is provided with V-shaped grooves 150 for inward bending. of the line ends of an electrical component "provided with a printed circuit when it is mounted on the substrate. By changing the direction of the Y-shaped groove, the line ends can be bent along a field or web of the substrate88 with the printed circuit.

Claims

QO98097 1132:

BAD ORfGlNAL

Claims (1)

V ι. A. - 28 P ate η ta η β ρ rü che »Device for fully automatic assembly of electrical components, ^ ** "denoted by one of a large number of in axial -Extension each having line parts (5k) and one another in parallel, side-by-side juxtaposition by means of tape strips serving to fasten the outer ends of the line parts (5k) (7b) connected electrical components (5) existing Tape (57), a supply drum (4) on which the tape (57) consisting of electrical components (5) is wound, one at a time taking place removal of the electrical components (5) to cut off the outer ends of the line parts (5k) of the electrical Components (5) and for the individual delivery of the separated electrical construction "parts (5a) actuatable separation unit (6), one for bending deformation . of the line parts (5k) of each electrical component (5a) fed from the disconnection unit (6) and for introducing the bent ones Line parts (5k) of the electrical component (5a) in one Pad (88) with the holes provided for the printed circuit a change in position of the electrical component (5a) actuatable head unit (58 * 62), a conveyor unit (35 »36, 39» 4-1) for conveying of the individual electrical components from the separation unit (6) to Head unit (58, 62) and an adjustment device (87, 102, 1G5) a precise adjustment of the position of the base (88) with the printed circuit in a predetermined position for the insertion of the line parts (5k) of the electrical component (5a) in the base L · ( ⁸⁸ ) holes provided with printed circuit board. . 2. Device for fully automatic assembly of electrical components according to Claim 1, characterized in that the separation unit (6) for Separation of the line parts (5k) of each electrical component (5a) cutting devices which can be actuated in a gate of a certain length (17), feed wheels (7) for feeding the electrical components (5) existing tape (57) to the cutting devices (17) and one for the intermittent further rotation of the feed wheels (7) each has a tooth spacing actuatable device (β, 15, 12). 3ο Device for the fully automatic assembly of electrical components claim 009809/1132 "' Claim 1, because the conveyor unit (55 »36» 39, 41) a continuously driven conveyor (35) »a receiving member (41.) "for receiving each electrical component separated from the strip (57) consisting of electrical components (5) (5a) and to hold it in a predetermined positional arrangement and one the end point of the conveyor (35) with the receiving member (41) for the hose line (39) connecting the electrical components (5a) having. . . 4. Device for the fully automatic assembly of electrical components according to claim 1, characterized in that the head unit (58, 62) is provided with a guide belt (53a), pivotable and supported by a pin (54) ^{and (} 5 · a spring (55) i ⁿ a normally horizontal arrangement connected to the lower end of a cylinder (56) deforming tool (53) »a cooperating with this, in.related to the deforming tool (53) for a reciprocating movement and thereby for producing an engaging connection between the through a Receiving member (41) for electrical components (5a) held in a predetermined positional arrangement electrical component (5a) and the guide grooves (53a) actuatable deformation tool (48) and a in the cylinder (56) slidably arranged in the axial direction and for pivoting the Deformation tool (53) in a vertical position against the loading force of the spring (55) and to depress the electric high component (5a) for introducing the line parts (5k) of the electrical component (5a) in the course of this downward movement into holes provided in the base (88) with an actuatable insertion element (6l) which is provided with a printed hold. "" ■■■ " 5 · Device for the fully automatic assembly of electrical components according to Claim, characterized in that the head unit (58-62) has a cylinder (56) with a deformation tool (53) connected to its lower end in a horizontal arrangement so as to be pivotable »one in the cylinder (56) Slidably arranged in the axial direction and for pivoting the Vexformungewerkzeügs · (53) in a vertical position and for. Depression of the electrical component (5a) held in the transport tool (53) in order to introduce the line parts (5k) of the electrical component (5a) in the course of this Downward movement 80 97 1132 '■■ ■ - 30 - -'; ■ - ■■■ '■■ ..'... ■ Downward movement in the pad (88) with printed circuit ' provided holes actuatable insertion member (6l) and an arrangement (65, 66, 69) which can be actuated to rotate the cylinder (56) and the insertion member (6l) about their own axis. Device for fully automatic assembly of electrical components according to Claim 1, characterized in that the head unit (58, 62) has a cylinder (56) with a deformation mechanism (53) connected in a horizontal arrangement to its lower end so as to be pivotable in the cylinder ($ 6) the axial direction slidably arranged and for pivoting the deformation tool (53) in a vertical position as well as for pressing down the electrical component (5a) held in the deformation tool (53) to introduce the line parts (5k) of the electrical component (5a) in the course of this downward movement Insertion member (6l) actuatable in holes provided in the base (88) with a printed circuit, a pinion (65) provided at the upper end of the cylinder (56), a toothed rack {66) in mesh with the pinion (65), a stop disk (80) with provided stop pins (78 ) and an arrangement (75, 77, 79) which can be actuated to control the rotational movement of the stop disk (δθ). Apparatus for fully automatic ion-laying of electrical components according to claim 1, characterized in that the adjusting device (87, 102, I05) has an adjusting table (87) for mounting the support (88) with a printed circuit, the adjusting table (87) in one direction Slidably displaceable arrangement bearing rails (90) , the rails (90) bearing sole blocks (93), the rail blocks (93) in a perpendicular to the aforementioned one-way sliding arrangement bearing rails (92), one extending parallel to the rails ( 90) provided threaded spindle (I04), a servomotor (1G5) that can be actuated to drive the threaded spindle (I04) for rotary movements> a potentiometer (I06) that responds to the amount of rotation during the rotary movement of the threaded spindle (IO4), another parallel extension A threaded spindle (98) provided for the rails (92), a 7 / second, can be actuated to drive the threaded spindle (98) for rotary movements a servo motor (102). additional .. BAD ORIGINAL 009 8 0 9/1133 ■ Another potentiometer (lOj) that responds to the amount of rotation when the threaded spindle (98) rotates; arranged and screwed onto the threaded spindle (104.), springs (107) each provided between the nut and one of the spring seats (108) and pushed onto the threaded spindle (IO4). two spring seats (100) fastened to one of the rail blocks (93) through which the threaded spindle (98) is passed, a nut (99) arranged between the two spring seats (100) and screwed onto the threaded spindle (98)? between the nut (9-9) ^{and (} 3- ötem one of the spring seats (IGO) provided, on the threaded spindle (98) slipped springs (10l), a tapered pin carried by the adjustment table (BT) ' and movable in the vertical direction (94) and a template (IO9) with a large number of adjustment holes (1093) into which the lower end of the tapered pin (94) can be inserted. Device for the fully automatic assembly of electrical components according to claim 1, characterized in that the adjusting ^{device (87 1} V 102, I05) has an adjusting table (87 ') for mounting the support (88) with the printed circuit, the. Storage table (8.7. ') In egg. ¹ »·" · * in the one direction slidable arrangement supporting rails ^^^ rn ■ "'' oie rails (po) supporting rail blocks Slidably ¹ displaceable arrangement supporting rails (92), a threaded spindle (IÖ4) provided in parallel to the rails (90), a servomotor (105) that can be actuated to drive the threaded spindle (I04) for rotary movements > an amount of rotation during the rotary movement of the Threaded spindle (104) responsive potentiometer (loo) y a further threaded spindle (98) provided parallel to the rails (92), a further servomotor (102) that can be actuated to drive the threaded spindle (98) for rotational movements, and another the amount of rotation during the rotary movement of the threaded spindle (98) responsive potentiometer (IO3), two spring seats (IO8) attached to the setting table (87 ') through which the threaded spindle (104) .hindurch ge fü hrt is, a between the two spring seats (IO8) arranged and "on the threaded spindle (IO4) on screwed 000899 / T.132 ^ - -. BAD ORiGiMAL screwed nut, springs (107) provided between the nut and one of the spring seats (108) and pushed onto the threaded spindle (104), two spring seats (100) attached to one of the rail blocks (95) through which the threaded spindle ( 98) is passed through, a nut (99) arranged between the two spring seats (100) and screwed onto the threaded spindle (98), each between the nut (99) and one of the spring seats (100) provided on the threaded spindle (98) pushed-on springs (10l) ₅ a tapered adjusting pin (94 ') and an anvil plate (109') with a large number of adjusting holes (109a) formed on the underside thereof, provided in an arrangement below the base (88) with a printed circuit '), into which the lower end of the tapered adjustment pin s (94 ·) can be inserted. ORIGINAL 00 9 809/1132